Inheritance diagram for SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere:

Public Member Functions
virtual	~HalfSpaceSphere ()
void	processObjects (ContactSurfaceIndex index1, const ContactGeometry &object1, const Transform &transform1, ContactSurfaceIndex index2, const ContactGeometry &object2, const Transform &transform2, Array_< Contact > &contacts) const
	Identify contacts between a pair of bodies.

Detailed Description

This algorithm detects contacts between a ContactGeometry::HalfSpace and a ContactGeometry::Sphere.

Constructor & Destructor Documentation

virtual SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere::~HalfSpaceSphere ( ) [inline, virtual]

void SimTK::CollisionDetectionAlgorithm::HalfSpaceSphere::processObjects	(	ContactSurfaceIndex	index1,
		const ContactGeometry &	object1,
		const Transform &	transform1,
		ContactSurfaceIndex	index2,
		const ContactGeometry &	object2,
		const Transform &	transform2,
		Array_< Contact > &	contacts
	)		const `[virtual]`

Identify contacts between a pair of bodies.

Parameters:

index1	the index of the first body within its contact set
object1	the ContactGeometry for the first body
transform1	the location and orientation of the first body in the ground frame
index2	the index of the second body within its contact set
object2	the ContactGeometry for the second body
transform2	the location and orientation of the second body in the ground frame
contacts	if the bodies overlap, a Contact should be added to this for each distinct contact between them. (Multiple contacts may exist if one of the bodies is concave.)

The documentation for this class was generated from the following file: